WO2018179322A1 - 作業車両 - Google Patents
作業車両 Download PDFInfo
- Publication number
- WO2018179322A1 WO2018179322A1 PCT/JP2017/013570 JP2017013570W WO2018179322A1 WO 2018179322 A1 WO2018179322 A1 WO 2018179322A1 JP 2017013570 W JP2017013570 W JP 2017013570W WO 2018179322 A1 WO2018179322 A1 WO 2018179322A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- imaging unit
- case
- cab
- work vehicle
- imaging
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/16—Cabins, platforms, or the like, for drivers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/16—Cabins, platforms, or the like, for drivers
- E02F9/163—Structures to protect drivers, e.g. cabins, doors for cabins; Falling object protection structure [FOPS]; Roll over protection structure [ROPS]
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Definitions
- the present invention relates to a work vehicle, and more particularly to a work vehicle having a stereo camera.
- Patent Document 1 discloses a hydraulic excavator having a stereo camera for topographic surveying in a cab.
- the front window of the cab of a hydraulic excavator can generally be opened by sliding it from the front of the cab to the cab roof side. This makes it possible to work with the front window opened.
- the camera cannot be used to open the front window.
- This disclosure is intended to provide a work vehicle in which a stereo camera can be attached to a cab and a front window of the cab can be opened.
- the work vehicle includes a cab, a first stereo camera, a second stereo camera, a first case, and a second case.
- the first stereo camera has a first imaging unit and a second imaging unit.
- the second stereo camera has a third imaging unit and a fourth imaging unit.
- the first case accommodates the first imaging unit and the third imaging unit inside.
- the second case accommodates the second imaging unit and the fourth imaging unit inside.
- the first case and the second case are attached to the outside of the cab.
- FIG. 1 is a perspective view schematically showing a configuration of a hydraulic excavator according to an embodiment.
- the hydraulic excavator 1 according to the present embodiment mainly includes a traveling body 2, a revolving body 3, and a work implement 4.
- the traveling body 2 and the swing body 3 constitute a vehicle main body of the excavator 1.
- the traveling body 2 has a pair of left and right crawler belts 2a.
- the hydraulic excavator 1 is configured to be capable of self-running when the pair of left and right crawler belts 2a are rotationally driven.
- the turning body 3 is installed so as to be turnable with respect to the traveling body 2.
- the swivel body 3 mainly includes a cab 5, an engine hood 6, and a counterweight 7.
- the cab 5 is disposed, for example, on the front left side (vehicle front side) of the revolving structure 3. Inside the cab 5, a driver's seat 8 is arranged for an operator to sit on. An antenna 9 is installed on the upper surface of the revolving unit 3.
- the antenna 9 is connected to a communication terminal (not shown) of the excavator 1, and the communication terminal is connected to the controller.
- the controller is connected to the monitor via a bidirectional communication cable.
- the antenna 9 can communicate with a communication earth station through a communication satellite outside the hydraulic excavator 1, for example.
- Each of the engine hood 6 and the counterweight 7 is disposed on the rear side (rear side of the vehicle) of the revolving structure 3.
- the engine hood 6 is disposed so as to cover at least the upper part of the engine room.
- An engine unit (engine, exhaust treatment unit, etc.) is housed in the engine room.
- the counterweight 7 is disposed behind the engine room in order to balance the vehicle body during mining.
- the work machine 4 is for performing work such as earth excavation.
- the work machine 4 is attached to the front side of the revolving unit 3.
- the work machine 4 includes, for example, a boom 4a, an arm 4b, a bucket 4c, hydraulic cylinders 4d, 4e, and 4f.
- the work implement 4 can be driven by each of the boom 4a, the arm 4b, and the bucket 4c being driven by the hydraulic cylinders 4f, 4e, and 4d.
- the base end of the boom 4a is connected to the revolving unit 3 via a boom pin.
- the boom 4a is rotatably provided around the boom pin.
- the base end portion of the arm 4b is connected to the tip end portion of the boom 4a via an arm pin.
- the arm 4b is rotatably provided around the arm pin.
- Bucket 4c is connected to the tip of arm 4b via a bucket pin.
- the bucket 4c is provided to be rotatable around a bucket pin.
- the work machine 4 is provided on the right side of the cab 5, for example.
- the arrangement of the cab 5 and the work implement 4 is not limited to the example shown in FIG. 1.
- the cab 5 is arranged on the right front side of the revolving structure 3 and the work implement 4 is arranged on the left side of the cab 5. May be.
- the cab 5 includes a roof portion 48 disposed so as to cover the driver's seat 8 and a plurality of pillars that support the roof portion 48.
- the plurality of pillars include a front pillar 40, a rear pillar 46, and an intermediate pillar 44.
- the front pillar 40 is disposed in a corner portion of the cab 5 in front of the driver seat 8.
- the rear pillar 46 is disposed at a corner portion of the cab 5 behind the driver seat 8.
- the intermediate pillar 44 is disposed between the front pillar 40 and the rear pillar 46.
- Each pillar has a lower end connected to the floor portion of the cab 5 and an upper end connected to the roof portion 48 of the cab 5.
- the front pillar 40 has a left pillar 41 and a right pillar 42.
- the left pillar 41 is disposed at the front left corner of the cab 5.
- the right pillar 42 is disposed at the front right corner of the cab 5.
- the right pillar 42 is disposed on the side close to the work machine 4.
- the left pillar 41 is disposed on the side away from the work machine 4.
- the space surrounded by the front pillars 41 and 42, the pair of rear pillars 46, the roof portion 48, and the floor portion forms an indoor space of the cab 5.
- the driver's seat 8 is accommodated in the indoor space of the cab 5.
- the driver's seat 8 is disposed almost at the center of the floor of the cab 5.
- a front window 47 a is arranged between the left pillar 41 and the right pillar 42. When the front window 47a is closed, the front window 47a is disposed in front of the driver's seat 8.
- a rear window 47 b (FIG. 8) is disposed between the pair of rear pillars 46. The rear window 47 b is disposed behind the driver seat 8.
- Each of the front window 47a and the rear window 47b has a window portion made of a transparent material and a sash portion that holds the window portion.
- the operator seated in the driver's seat 8 can visually recognize the outside of the cab 5 through each of the front window 47a and the rear window 47b. For example, an operator seated in the driver's seat 8 can directly see the bucket 4c for excavating earth and sand, the current topography to be constructed, and the like through the front window 47a. An operator sitting in the driver's seat 8 can directly see the rear of the vehicle body through the rear window 47b.
- the front frame (front beam member) 49a is located at the front upper end of the cab 5.
- the front frame 49 a connects the left pillar 41 and the right pillar 42.
- the front frame 49a is disposed between the roof portion 48 and the closed front window 47a.
- a rear frame (rear beam member) 49 b is located at the rear upper end of the cab 5.
- the rear frame 49b connects the pair of rear pillars 46 to each other.
- the rear frame 49 b is disposed between the rear window 47 b and the roof portion 48.
- FIG. 2 is a perspective view showing the vicinity of the stereo camera of the excavator shown in FIG. 3 is a perspective view in which the case of the imaging unit is omitted from the state shown in FIG.
- the excavator 1 has a first stereo camera and a second stereo camera.
- the first stereo camera includes an imaging unit 51a (first imaging unit) and an imaging unit 51b (second imaging unit).
- Each of the imaging units 51 a and 51 b is attached to the front frame 49 a outside the cab 5.
- the imaging unit 51 a is located at the intersection of the front frame 49 a and the left pillar 41.
- the imaging unit 51b is located at the intersection of the front frame 49a and the right pillar 42.
- the second stereo camera has an imaging unit 52a (third imaging unit) and an imaging unit 52b (fourth imaging unit).
- Each of the imaging units 52a and 52b is outside the cab 5 and attached to the front frame 49a.
- the imaging unit 52 a is located at the intersection of the front frame 49 a and the left pillar 41.
- the imaging unit 52b is located at the intersection of the front frame 49a and the right pillar 42.
- the first stereo camera and the second stereo camera are attached to the outside of the cab 5.
- Each of the first stereo camera and the second stereo camera is attached to the front frame 49a.
- the imaging unit 51a and the imaging unit 52a are accommodated in one case 56a (first case).
- the case 56a has an opening 56aa on the front side.
- a glass cover 57a (cover) is disposed in the opening 56aa.
- Each of the imaging unit 51a and the imaging unit 52a can capture an image of the topography of the front of the excavator 1 through the glass cover 57a.
- the imaging unit 51b and the imaging unit 52b are accommodated in one case 56b (second case).
- the case 56b has an opening 56ba on the front side.
- a glass cover 57b (cover) is disposed in the opening 56ba.
- Each of the image pickup unit 51b and the image pickup unit 52b can pick up an image of the topography in front of the excavator 1 through the glass cover 57b.
- Each of the cases 56a and 56b is attached to the outside of the cab 5.
- Each of the cases 56a and 56b of the imaging unit is attached to the front frame 49a.
- the case 56a is disposed at a portion where the front frame 49a and the left pillar 41 intersect.
- the case 56b is disposed at a portion where the front frame 49a and the right pillar 42 intersect.
- two headlamps 91 are disposed between the cases 56a and 56b. Each of the two headlamps 91 is attached to the front frame 49a. Each of the two headlamps 91 can illuminate the front of the excavator 1 at night or the like.
- the imaging unit 51a and the imaging unit 52a are arranged so as to be aligned with each other in the left-right direction at the intersection of the front frame 49a and the left pillar 41.
- the imaging unit 51b and the imaging unit 52b are arranged so as to be aligned in the left-right direction at the intersection of the front frame 49a and the right pillar 42.
- FIG. 3 shows the optical axis OA1 of the imaging unit 51a and the optical axis OA2 of the imaging unit 51b in the first stereo camera.
- FIG. 3 also shows the optical axis OA3 of the imaging unit 52a and the optical axis OA4 of the imaging unit 52b in the second stereo camera.
- Each of the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a is set to have a depression angle in a state where the excavator 1 is disposed on the horizontal ground.
- the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a are inclined with respect to each other.
- the optical axis OA1 of the imaging unit 51a is inclined downward with respect to the optical axis OA3 of the imaging unit 52a. Thereby, the imaging unit 51a can capture an image of the topography below the imaging unit 52a.
- Each of the optical axis OA2 of the imaging unit 51b and the optical axis OA4 of the imaging unit 52b is set to have a depression angle when the excavator 1 is disposed on a horizontal ground.
- the optical axis OA2 of the imaging unit 51b and the optical axis OA4 of the imaging unit 52b are inclined with respect to each other.
- the optical axis OA2 of the imaging unit 51b is inclined downward with respect to the optical axis OA4 of the imaging unit 52b. Thereby, the imaging unit 51b can capture an image of the topography below the imaging unit 52b.
- Each of the optical axis OA1 of the imaging unit 51a and the optical axis OA2 of the imaging unit 51b has substantially the same inclination angle with respect to the horizontal plane.
- Each of the optical axis OA3 of the imaging unit 52a and the optical axis OA4 of the imaging unit 52b has substantially the same inclination angle with respect to the horizontal plane.
- FIG. 4 is an exploded perspective view showing the configuration of the case 56a shown in FIG. 2 and the stored items therein.
- FIG. 5 is an exploded perspective view showing the back plate 53, the seal member 54, the bracket 55, and the like as stored items inside the case 56a shown in FIG. 6 and 7 are a longitudinal sectional view and a transverse sectional view showing a configuration in the case 56a shown in FIG.
- the case 56a As shown in FIG. 4, in the case 56a, image pickup units 51a and 52a, a back plate 53, a seal member 54, a bracket 55, and a glass cover 57a are mainly housed.
- the case 56a has a front opening 56aa, an insertion hole 56ab provided in the rear upper surface, and an insertion hole 56ac provided in the rear side surface.
- a transparent glass cover 57a is attached to the opening 56aa of the case 56a.
- the imaging unit 51a and the imaging unit 52a are arranged inside the case 56a.
- Each of the imaging unit 51 a and the imaging unit 52 a is attached to the bracket 55.
- the bracket 55 is attached to the back plate 53 with bolts 58a.
- a seal member 54 is attached to the outer peripheral edge of the back plate 53.
- the seal member 54 is for sealing between the back plate 53 and the case 56a.
- the bracket 55 has a back plate mounting portion 55a, a first support portion 55b, and a second support portion 55c.
- the back plate attachment portion 55a, the first support portion 55b, and the second support portion 55c are integrally configured.
- the first support portion 55b and the second support portion 55c are not directly connected to each other, but are connected via a back plate attachment portion 55a.
- Each of the 1st support part 55b and the 2nd support part 55c inclines with respect to the backplate attachment part 55a.
- Each of the 1st support part 55b and the 2nd support part 55c inclines so that it may go ahead, so that it goes upwards from the connection part with the backplate attachment part 55a.
- the inclination angle of the first support portion 55b with respect to the back plate attachment portion 55a is different from the inclination angle of the second support portion 55c with respect to the back plate attachment portion 55a.
- the angle formed between the back plate mounting portion 55a and the first support portion 55b is smaller than the angle formed between the back plate mounting portion 55a and the second support portion 55c.
- the first support portion 55b extends to a position (upward) higher than the second support portion 55c.
- the back plate attachment portion 55a is provided with an insertion hole 55d for inserting the bolt 58a.
- the first support portion 55b is provided with an insertion hole 55bb for inserting a bolt. Further, the first support portion 55b is provided with a notch portion 55ba.
- the second support portion 55c is provided with an insertion hole 55cb for inserting a bolt.
- the second support portion 55c is provided with a notch portion 55ca.
- the 1st support part 55b is a part for attaching the imaging part 51a as FIG. 4 shows.
- the imaging unit 51a is attached to the first support unit 55b by being screwed into the imaging unit 51a after the bolt is inserted through the insertion hole 55bb of the first support unit 55b.
- the electric wire 59a (FIG. 4) extending from the back surface of the imaging unit 51a is passed through the notch 55ba of the first support unit 55b.
- the 2nd support part 55c is a part for attaching the imaging part 52a as FIG. 4 shows.
- the imaging part 52a is attached to the second support part 55c by being screwed into the imaging part 52a after the bolt is inserted through the insertion hole 55cb of the second support part 55c.
- the electric wire 59b (FIG. 4) extending from the back surface of the imaging unit 52a is passed through the notch 55ca of the second support unit 55c.
- the back plate 53 has a main body portion 53a, an upper fixing portion 53b, and a lateral fixing portion 53c.
- the main body portion 53a is provided with a female screw portion 53aa and a wire insertion hole 53d.
- the bolt 58a is inserted through the insertion hole 55d of the bracket 55, the bolt 58a is screwed into the female screw portion 53aa of the main body portion 53a.
- the bracket 55 is supported by the main body 53a.
- each of the electric wire 59a of the imaging unit 51a and the electric wire 59b of the imaging unit 52a passes through the main body 53a by passing through the electric wire insertion hole 53d of the main body 53a.
- the upper fixing portion 53b extends backward from the upper end of the main body portion 53a.
- the upper fixing portion 53b is provided with a female screw portion 53ba.
- the bolt 58c is inserted through the insertion hole 56ab (FIG. 4) of the case 56a and screwed into the female screw portion 53ba of the upper fixing portion 53b.
- the lateral fixing portion 53c extends rearward from the side end of the main body portion 53a.
- the lateral fixing portion 53c is provided with a female screw portion 53ca.
- the bolt 58b is inserted through the insertion hole 56ac (FIG. 4) of the case 56a and screwed into the female screw portion 53ca of the lateral fixing portion 53c.
- the case 58a is attached to the back plate 53 by screwing the bolt 58c into the female screw portion 53ba and screwing the bolt 58b into the female screw portion 53ca.
- a sealing member 54 is attached so as to surround the outer peripheral edge of the main body 53a in the back plate 53.
- the seal member 54 is provided with a notch 54b (communication portion).
- the notch 54b is configured to communicate the inside and the outside of the case 56a.
- the notch 54 b is located at the lowermost end of the seal member 54.
- both of the imaging units 51a and 52a are arranged at a position higher than the position of the notch 54b.
- the communication part which connects the inside of case 56a and the exterior should just be provided in at least one of the sealing member 54 and case 56a.
- the communication part is provided in the lower surface of case 56a.
- the seal member 54 sandwiches the front surface and the rear surface of the outer peripheral edge of the main body 53a.
- the outer peripheral end 54a of the seal member 54 is in contact with the inner surface of the case 56a.
- the seal member 54 seals between the back plate 53 and the case 56a.
- the seal member 54 prevents water, dust, and the like from entering the internal space of the case 56a (the space in which the imaging units 51a and 52a are stored).
- the height position of the intersection of the optical axis OA1 of the imaging unit 51a and the rear surface of the glass cover 57a is the height position of the intersection of the optical axis OA3 of the imaging unit 52a and the rear surface of the glass cover 57a.
- the vertical line PL on the rear surface of the glass cover 57a is located between the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a.
- the opening 56aa of the case 56a has a length L that does not block both the angle of view VA1 of the imaging unit 51a and the angle of view VA3 of the imaging unit 52a in a side view.
- the angle ⁇ 1 that the optical axis OA1 of the imaging unit 51a makes with the horizontal plane HS is larger than the angle ⁇ 2 that the optical axis OA3 of the imaging unit 52a makes with the horizontal plane HS.
- the opening 56aa of the case 56a has a width W that does not block both the angle of view VA1 of the imaging unit 51a and the angle of view VA3 of the imaging unit 52a in plan view.
- the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a are inclined so as to approach each other toward the front of the hydraulic excavator 1.
- FIG. 8 is a longitudinal sectional view of the cab of the excavator shown in FIG.
- FIG. 9 is an exploded perspective view for explaining the wiring of the stereo camera and its cover in the excavator shown in FIG.
- each of the left pillar 41 and the right pillar 42 is provided with a pair of first guide rails 40a.
- Each of the pair of first guide rails 40 a extends in the vertical direction along each of the front pillars 41 and 42.
- the roof portion 48 is provided with a pair of left and right second guide rails 48a.
- Each of the pair of left and right second guide rails 48a extends along the front-rear direction.
- the first guide rail 40a and the second guide rail 48a are connected to each other.
- FIG. 8 only the first guide rail 40a of the left pillar 42 is shown for simplification of the drawing, but the first guide rail 40a is also provided on the right pillar 41.
- FIG. 8 only the second guide rail 48a on the right side of the pair of second guide rails 48a is shown for simplification of the drawing, but the second guide rail 48a is also provided on the left side of the roof portion 48. Is provided.
- the front window 47a has a pair of protrusions 47aa and a pair of protrusions 47ab.
- the pair of protrusions 47aa is located at the lower end of the front window 47a and protrudes in the left-right direction when the front window 47a is in a closed state.
- the pair of projecting portions 47ab are located at the upper end portion of the front window 47a and project in the left-right direction when the front window 47a is in a closed state.
- Each of these protrusions 47aa and 47ab is movable along the first guide rail 40a and the second guide rail 48a.
- the front window 47a is movably supported by the first guide rail 40a and the second guide rail 48a.
- the front window 47a is movable between a closed state and an open state by the above movement.
- the front window 47a When the front window 47a is in a closed state, the front window 47a is located in front of the driver's seat 8. In this state, the front window 47 a extends in the vertical direction along the front pillars 41 and 42. In this state, the protrusion 47aa is located below the protrusion 47ab. In this closed state, the operator seated on the driver's seat 8 visually recognizes the front through the front window 47a.
- the front window 47a When the front window 47a is open, the front window 47a is located above the driver's seat 8. In this state, the front window 47 a extends in the front-rear direction along the roof portion 48. In this state, the projecting portion 47aa is located in front of the projecting portion 47ab and is located at substantially the same height as the projecting portion 47ab. In this open state, the operator seated on the driver's seat 8 visually recognizes the front without the front window 47a.
- the protrusion 47aa at the lower end of the front window 47a moves upward along the first guide rail 40a and then moves along the second guide rail 48a. Move backwards.
- the protrusion 47ab at the upper end of the front window 47a moves rearward along the second guide rail 48a.
- an electronic device 60 is arranged in the interior space of the cab 5, an electronic device 60 is arranged.
- the electronic device 60 is electrically connected to each of the imaging units 51a, 51b, 52a, and 52b. Data transmission from each of the imaging units 51a, 51b, 52a, and 52b to the electronic device 60 may be wireless.
- the electronic device 60 has a function of processing image data of each of the imaging units 51a, 51b, 52a, and 52b.
- the electronic device 60 has a function of converting the format of image data captured by each of the imaging units 51a, 51b, 52a, and 52b, for example.
- the electronic device 60 is attached to the ceiling of the cab 5.
- the ceiling is the lower surface side (cab interior side) of the roof portion 48.
- the electronic device 60 is attached to the ceiling so as to be positioned above the front window 47a in an open state.
- the electronic device 60 is located behind the driver seat 8. Specifically, the electronic device 60 is located behind the front / rear position SP of the rearmost end RE of the driver's seat 8.
- the electronic device 60 and each of the imaging units 51 a, 51 b, 52 a, 52 b are electrically connected by electric wires 59.
- the electric wire 59 is connected to the front surface of the electronic device 60.
- the electronic device 60 is inclined so that the front surface to which the electric wire 59 is connected is low and the rear surface facing the front surface is high.
- the front surface of the electronic device 60 protrudes downward from the ceiling interior material 81.
- the rear surface of the electronic device 60 is located above the ceiling interior material 81.
- the lower part of the electronic device 60 protruding downward from the ceiling interior material 81 is covered with an interior material cover 82.
- the interior material cover 82 can be attached to and detached from the ceiling interior material 81 and the like.
- An electric wire 59 for connecting the electronic device 60 and each of the imaging units 51a, 51b, 52a, 52b extends from the inside of the cab 5 to the outside through a through hole 49ba provided in the rear frame 49b.
- the interior material cover 82 is regarded as a part of the ceiling interior, it can be said that the electronic device 60 is disposed between the roof portion 48 and the ceiling interior.
- each of the front pillars 41 and 42 is inclined so as to go from the front to the rear as it goes from the bottom to the top.
- the front ends FE1 of the cases 56a and 56b are located behind the front end position FE2 of the cab 5.
- Each of the uppermost height positions UE1 of the cases 56a and 56b is lower than the uppermost height position UE2 of the cab 5.
- the electric wire 59 for connecting the electronic device 60 and the imaging units 51 a, 51 b, 52 a, 52 b extends on the roof portion 48.
- the electric wire 59 extends on the roof portion 48 from the front frame 49a to the rear frame 49b.
- Covers 72a, 72b, 73a and 73b are attached to the roof portion 48 so as to cover the electric wires 59 located on the roof portion 48.
- Each of the covers 73a and 73b is attached to the front side (front frame 49a side) of the roof portion 48 and to both the left and right sides.
- Each of the covers 72a and 72b is attached to each of the left and right sides between each of the covers 73a and 73b and the rear frame 49b.
- a cover 71 is attached to the rear frame 49b so as to cover the electric wires 59 located on the rear frame 49b.
- the cover 71 includes, for example, a plurality of cover portions 71a, 71b, 71c, and 71d.
- FIG. 10 is a schematic diagram showing an imaging range by each imaging unit.
- FIG. 11 is a functional block diagram showing the configuration of the stereo image data synthesis system.
- the imaging unit 51a can image the imaging range VR1, for example.
- the imaging unit 51b can image the imaging range VR2, for example.
- the imaging unit 52a can image the imaging range VR3, for example.
- the imaging unit 52b can image the imaging range VR4, for example.
- the imaging range VR1 of the imaging unit 51a and the imaging range VR2 of the imaging unit 51b partially overlap on the left and right.
- the imaging range VR3 of the imaging unit 52a and the imaging range VR4 of the imaging unit 52b partially overlap on the left and right.
- the imaging range VR1 of the imaging unit 51a and the imaging range VR3 of the imaging unit 52a partially overlap each other.
- the imaging range VR2 of the imaging unit 51b and the imaging range VR4 of the imaging unit 52b partially overlap each other.
- the imaging range VR1 of the imaging unit 51a and the imaging range VR2 of the imaging unit 51b partially overlap each other on the left and right, stereo processing is performed on the image captured by the imaging unit 51a and the image captured by the imaging unit 51b.
- stereo processing is performed on the image captured by the imaging unit 51a and the image captured by the imaging unit 51b.
- the imaging range VR3 of the imaging unit 52a and the imaging range VR4 of the imaging unit 52b partially overlap each other on the left and right, stereo processing is performed on the image captured by the imaging unit 52a and the image captured by the imaging unit 52b. It is possible to construct a three-dimensional image of the imaging object.
- a three-dimensional image constructed from the images of the imaging units 51a and 51b and a three-dimensional image constructed from the images of the imaging units 52a and 52b are vertically combined to generate a three-dimensional image in a wide range (for example, three-dimensional current status) Terrain).
- the first stereo camera is composed of an imaging unit 51a and an imaging unit 51b.
- the second stereo camera includes an imaging unit 52a and an imaging unit 52b.
- the imaging units 51a and 51b of the first stereo camera and the imaging units 52a and 52b of the second stereo camera are electrically connected to the controller 20 with the electronic device 60 interposed therebetween.
- the imaging unit 51a and the imaging unit 51b capture images in synchronization with the front area (imaging ranges VR1 and VR2 shown in FIG. 10) with respect to the vehicle body.
- a two-dimensional image captured by each of the imaging unit 51 a and the imaging unit 51 b is input to the controller 20 through the electronic device 60.
- the controller 20 transmits the data related to the two input two-dimensional images to the external monitoring station 76.
- the monitoring station 76 has a stereo matching unit 761.
- the stereo matching unit 761 constitutes a part of the image data generation system.
- the stereo matching unit 761 stereo-matches two-dimensional images captured simultaneously from different angles by the imaging unit 51a and the imaging unit 51b, and calculates image data relating to the three-dimensional shape of the front region that is the imaging target. More specifically, the stereo matching unit 761 uses the triangulation principle based on the parallax between the imaging unit 51a and the imaging unit 51b, and the distance from the imaging unit 51a to the front area that is the imaging target, and the imaging unit. The distance from 52a to the front area is calculated to determine the three-dimensional shape of the front area.
- the imaging unit 52a and the imaging unit 52b capture an image of the front area (imaging ranges VR3 and VR4 shown in FIG. 10) in synchronization with the vehicle body.
- a two-dimensional image captured by each of the imaging unit 52 a and the imaging unit 52 b is input to the controller 20 through the electronic device 60.
- the controller 20 transmits the data related to the two input two-dimensional images to the external monitoring station 76.
- the monitoring station 76 has a stereo matching unit 762.
- the stereo matching unit 762 constitutes a part of the image data generation system.
- the stereo matching unit 762 stereo-matches two-dimensional images captured simultaneously from different angles by the imaging unit 52a and the imaging unit 52b, and calculates image data related to the three-dimensional shape of the front region that is the imaging target. More specifically, the stereo matching unit 762 uses the principle of triangulation based on the parallax between the imaging unit 52a and the imaging unit 52b, and the distance from the imaging unit 52a to the front region that is the imaging target, and the imaging unit. The distance from 52b to the front area is calculated to obtain the three-dimensional shape of the front area.
- the imaging ranges VR1 and VR2 captured by the first stereo camera are on the lower side when viewed from the operator.
- the imaging ranges VR3 and VR4 captured by the second stereo camera are on the upper side when viewed from the operator.
- the imaging ranges VR1 and VR2 captured by the first stereo camera and the imaging ranges VR3 and VR4 captured by the second stereo camera partially overlap each other in the vertical direction.
- the three-dimensional shape of the front area obtained by the stereo matching unit 761 indicates the topography of the lower side as viewed from the operator, and the three-dimensional shape of the front area obtained by the stereo matching unit 762 is the upper side as viewed from the operator. Shows the topography.
- the shape of the three-dimensional shape obtained by the stereo matching unit 761 and the three-dimensional shape obtained by the stereo matching unit 762 overlap each other.
- the monitoring station 76 further includes an upper and lower stereo image data synthesis unit 763.
- the upper and lower stereo image data combining unit 763 combines the image data calculated by the stereo matching unit 761 and the image data calculated by the stereo matching unit 762 into one.
- the composition of the image data is performed by projecting the other image data on the coordinate system of one image data based on the relative position between the first stereo camera and the second stereo camera. Two pieces of image data are vertically arranged so as to overlap a common three-dimensional shape, and image data indicating a three-dimensional shape in which the imaging ranges VR1 to VR4 shown in FIG.
- the three-dimensional image data (terrain data) obtained as described above is transmitted to the controller 20.
- the controller 20 displays the three-dimensional image data on the monitor 21.
- the operator can perform work such as excavation while checking the image data of the three-dimensional shape displayed on the monitor 21.
- the case 56 a and the case 56 b are attached to the outside of the cab 5. Therefore, the case 56a and the case 56b do not interfere with the front window 47a when the front window 47a opens and closes as shown in FIG. For this reason, the front window 47a of the cab 5 can be opened.
- cases 56a and 56b may block the operator's view.
- the cases 56 a and 56 b are attached to the outside of the cab 5. For this reason, cases 56a and 56b do not block the operator's field of view. Therefore, the visibility of the operator is good.
- the front frame 49 a is located at the upper front end of the cab 5.
- Each of the case 56a and the case 56b is attached to the front frame 49a. For this reason, each of the imaging units 51a and 52a accommodated in the case 56a and the imaging units 51b and 52b accommodated in the case 56b can be imaged from a viewpoint close to the viewpoint of the operator.
- the imaging unit 51a is disposed at the intersection between the front frame 49a and the left pillar 41
- the imaging unit 51b is disposed at the intersection between the front frame 49a and the right pillar 42. Accordingly, it is possible to ensure a large space in the left-right direction between the imaging unit 51a and the imaging unit 51b in the first stereo camera. For this reason, the survey error in the first stereo camera can be reduced.
- the imaging unit 52a is disposed at the intersection between the front frame 49a and the left pillar 41
- the imaging unit 52b is disposed at the intersection between the front frame 49a and the right pillar 42.
- an electronic device 60 electrically connected to each of the imaging units 51 a, 52 a, 51 b, 52 b is attached to the ceiling of the cab 5.
- the wiring length of the electric wires 59 that connect each of the imaging units 51a, 51b, 52a, 52b attached to the front frame 49a and the electronic device 60 is compared with the case where the electronic device 60 is disposed near the floor surface of the cab 5. Can be shortened.
- each of the electronic device 60 and the interior material cover 82 is located above the front window 47a in an open state. For this reason, the front window 47a is prevented from interfering with each of the electronic device 60 and the interior material cover 82 during the opening / closing operation of the front window 47a.
- each of the front pillars 41 and 42 is inclined so as to go from the front to the rear as it goes from the bottom to the top. Therefore, the front end FE1 of each of the cases 56a and 56b is located behind the front end position FE2 of the cab 5.
- the front end FE1 of each of the cases 56a and 56b is located behind the front end position FE2 of the cab 5.
- the electronic device 60 is located behind the driver seat 8.
- An electric wire 59 is connected to the front surface of the electronic device 60. Thereby, it becomes easy for an operator near the driver's seat 8 to access a connection portion between the electronic device 60 and the electric wire 59. Thereby, the maintenance of the electronic device 60 becomes easy.
- the electronic device 60 is inclined so that the front surface to which the electric wires 59 of the electronic device 60 are connected is lower than the rear surface.
- the front surface to which the electric wire 59 of the electronic device 60 is connected is at a low position, it becomes easier for an operator to access the connection portion between the electronic device 60 and the electric wire 59. This further facilitates maintenance of the electronic device 60.
- the front surface to which the electric wire 59 of the electronic device 60 is connected protrudes downward from the ceiling interior material 81. For this reason, by removing the interior material cover 82 from the ceiling interior material 81, it is possible to easily attach and remove the electric wires 59 to and from the electronic device 60.
- a hole through which the electric wire 59 passes is provided in the roof portion 48, water leakage from the outside to the inside of the cab 5 tends to occur. Further, if a hole for passing the electric wire 59 is provided in the rear window 47b, the visibility behind the operator is deteriorated. In the present embodiment, as shown in FIG. 8, a through hole 49ba through which the electric wire 59 passes is provided in the rear frame 49b. As a result, it is possible to maintain good visibility behind the operator while suppressing water leakage into the cab 5.
- the height position of the intersection between the optical axis OA1 of the imaging unit 51a and the rear surface of the glass cover 57a in the side view is the intersection of the optical axis OA3 of the imaging unit 52a and the rear surface of the glass cover 57a. It is the same as the height position.
- the length L of the opening 56aa of the case 56a can be reduced without blocking both the angle of view VA1 of the imaging unit 51a and the angle of view VA3 of the imaging unit 52a.
- the size of the glass cover 57a can be reduced.
- the glass cover 57a is easily scratched or broken by scattered matter generated during work. By reducing the size of the glass cover 57a, it is possible to suppress damage and breakage of the glass cover 57a due to scattered objects.
- the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a are inclined so as to approach each other toward the front of the hydraulic excavator 1 in a plan view.
- the width W of the opening 56aa of the case 56a can be reduced without blocking both the angle of view VA1 of the imaging unit 51a and the angle of view VA3 of the imaging unit 52a.
- the size of the glass cover 57a can be reduced, and similarly to the above, the glass cover 57a can be prevented from being damaged and damaged by scattered objects.
- At least one of the seal member 54 and the case 56a is provided with a communication portion (for example, a notch portion 54b) that communicates the inside and the outside of the case 56a. For this reason, it is suppressed that dew condensation arises inside case 56a.
- a communication portion for example, a notch portion 54b
- the notch 54 b is provided at the lowermost end of the seal member 54. Both of the imaging units 51a and 52a are arranged at a position (above) higher than the position of the notch 54b. For this reason, even if water, dust, or the like enters the case 56a from the notch 54b, the water, dust, or the like is suppressed from adhering to the imaging units 51a, 52a.
- the bracket 55 is configured such that the first support portion 55b and the second support portion 55c of the bracket 55 are integrated. Thereby, the increase in the number of parts can be suppressed. Further, the angle setting of the optical axes OA1 and OA3 of the imaging units 51a and 52a is facilitated.
- each of the optical axes OA1 to OA4 of the imaging units 51a, 52a, 51b, and 52b is set to a depression angle.
- the part of the work vehicle such as a hydraulic excavator is the ground.
- the working site is not limited to the horizontal, and there may be a case where the working vehicle such as the hydraulic excavator 1 is inclined upward from the front.
- ⁇ 1 is larger than the second angle ⁇ 2 formed by the optical axis OA3 of the imaging unit 52a and the horizontal plane HS.
- FIG. 10 it is possible to simultaneously image the lower imaging range VR1 by the imaging unit 51a and the upper imaging range VR2 by the imaging unit 52a. For this reason, even when the part to be worked is inclined upward from the front of the work vehicle 1, it becomes easy to obtain the three-dimensional current terrain data of the inclined part to be worked on.
- the third angle formed by the optical axis OA2 of the imaging unit 51b with the horizontal plane is the light of the imaging unit 52b.
- the axis OA4 is larger than the fourth angle formed with the horizontal plane.
- the height position UE1 at the uppermost end of the case 56b is lower than the height position UE2 at the upper end of the cab 5.
- the case 56b can be arranged avoiding the bucket trajectory. Thereby, interference with case 56b and the bucket 4c can be prevented.
- front end FE1 of the case 56b is located behind the front end position FE2 of the cab 5, interference between the case 56b and the bucket 4c can be further prevented.
- FIG. 12 is a perspective view schematically showing a configuration of a hydraulic excavator in another embodiment.
- FIGS. 13, 14 and 15 are a front view, a plan view and a side view showing the vicinity of the stereo camera of the excavator shown in FIG. 12, respectively.
- the configuration of the present embodiment is different in the configurations of the first and second stereo cameras compared to the configuration in the embodiment shown in FIGS.
- the first stereo camera has an imaging unit 51a (first imaging unit) and an imaging unit 51b (second imaging unit).
- the second stereo camera has an imaging unit 52a (third imaging unit) and an imaging unit 52b (fourth imaging unit).
- the imaging unit 51a and the imaging unit 52a are accommodated in one case 56a (first case).
- the case 56a has two openings 56aa and 56ab on the front side.
- the two openings 56aa and 56ab are arranged side by side in the vertical direction, and the opening 56aa is arranged below the opening 56ab.
- Glass covers 57aa and 57ab are disposed in each of the two openings 56aa and 56ab.
- the imaging unit 51a can image the topography of the front of the excavator 1 through the glass cover 57aa and the imaging unit 52a through the glass cover 57ab.
- the imaging unit 51b and the imaging unit 52b are accommodated in one case 56b (second case).
- the case 56b has two openings 56ba and 56bb on the front side.
- the two openings 56ba and 56bb are arranged side by side in the vertical direction, and the opening 56ba is arranged below the opening 56bb.
- Glass covers 57ba and 57bb are arranged in each of the two openings 56ba and 56bb.
- the imaging unit 51b can image the topography of the excavator 1 and the like through the glass cover 57ba and the imaging unit 52b through the glass cover 57bb.
- Each of the case 56a and the case 56b is attached to the outside of the cab 5.
- the case 56a is attached to at least one of the front frame 49a and the left pillar 41.
- the case 56a is disposed at a portion where the front frame 49a and the left pillar 41 intersect.
- the case 56b is attached to at least one of the front frame 49a and the right pillar 42.
- the case 56b is disposed at a portion where the front frame 49a and the right pillar 42 intersect.
- two headlamps 91 are disposed between the cases 56a and 56b. Each of the two headlamps 91 is attached to the front frame 49a. Each of the two headlamps 91 can illuminate the front of the excavator 1 at night or the like.
- the imaging unit 51a and the imaging unit 52a are arranged in the vertical direction.
- the imaging unit 51a is disposed below the imaging unit 52a.
- the imaging unit 51b and the imaging unit 52b are arranged in the vertical direction.
- the imaging unit 51b is disposed below the imaging unit 52b.
- FIG. 12 shows the optical axis OA1 of the imaging unit 51a and the optical axis OA2 of the imaging unit 51b. Also, in FIG. 12, the optical axis OA3 of the imaging unit 52a and the optical axis OA4 of the imaging unit 52b are shown.
- Each of the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a is set to have a depression angle in a state where the excavator 1 is disposed on the horizontal ground.
- the optical axis OA1 of the imaging unit 51a and the optical axis OA3 of the imaging unit 52a are inclined with respect to each other.
- the optical axis OA1 of the imaging unit 51a is inclined downward with respect to the optical axis OA3 of the imaging unit 52a. Thereby, the imaging unit 51a can capture an image of the topography below the imaging unit 52a.
- Each of the optical axis OA2 of the imaging unit 51b and the optical axis OA4 of the imaging unit 52b is set to have a depression angle when the excavator 1 is disposed on a horizontal ground.
- the optical axis OA2 of the imaging unit 51b and the optical axis OA4 of the imaging unit 52b are inclined with respect to each other.
- the optical axis OA3 of the imaging unit 51b is inclined downward with respect to the optical axis OA4 of the imaging unit 52b. Thereby, the imaging unit 51b can capture an image of the topography below the imaging unit 52b.
- Each of the optical axis OA1 of the imaging unit 51a and the optical axis OA2 of the imaging unit 51b has substantially the same inclination angle with respect to the horizontal plane.
- Each of the optical axis OA3 of the imaging unit 52a and the optical axis OA4 of the imaging unit 52b has substantially the same inclination angle with respect to the horizontal plane.
- the angle formed by the optical axis OA1 of the imaging unit 51a and the horizontal plane is larger than the angle formed by the optical axis OA3 of the imaging unit 52a.
- the angle formed by the optical axis OA2 of the imaging unit 51b and the horizontal plane is larger than the angle formed by the optical axis OA4 of the imaging unit 52b.
- each of the imaging units 51 a and 52 a is attached to at least one of the front frame 49 a and the left pillar 41 outside the cab 5.
- Each of the imaging units 51a and 52a is disposed at a portion where the front frame 49a and the left pillar 41 intersect.
- Each of the imaging units 51b and 52b is attached to at least one of the front frame 49a and the right pillar 42 outside the cab 5.
- Each of the imaging units 51b and 52b is disposed at a portion where the front frame 49a and the right pillar 42 intersect.
- Each of the imaging unit 51a and the imaging unit 52a is arranged to overlap at least one of the left pillar 41 and the extension region RA of the left pillar 41 in a front view.
- Each of the imaging unit 51b and the imaging unit 52b is disposed so as to overlap the right pillar 42 and the extension region RB of the right pillar 42 in a front view.
- Each of the imaging unit 51a and the imaging unit 52a is attached to the left pillar 41 and the extension region RA of the left pillar 41.
- Each of the imaging unit 51b and the imaging unit 52b is attached to the right pillar 42 and the extension region RB of the right pillar 42.
- ROPS ROllover Protective Structure
- Each of the horizontal width (width in the left-right direction) of the imaging unit 51a and the horizontal width of the imaging unit 52a is narrower than the horizontal width of the left pillar 41.
- Each of the horizontal width of the imaging unit 51 b and the horizontal width of the imaging unit 52 b is narrower than the horizontal width of the right pillar 42.
- each of the imaging unit 51a and the imaging unit 52a is arranged so as to overlap the left pillar 41 in a plan view.
- Each of the imaging unit 51b and the imaging unit 52b is disposed so as to overlap the right pillar 42 in plan view.
- Each of the optical axis OA1 of the imaging unit 51a, the optical axis OA2 of the imaging unit 51b, the optical axis OA3 of the imaging unit 52a, and the optical axis OA4 of the imaging unit 52b is closer to the work machine 4 (FIG. 1) side in the plan view. Inclined to approach.
- the optical axis OA1 of the imaging unit 51a is inclined so as to approach the working machine 4 side forward from the optical axis OA3 of the imaging unit 52a.
- the optical axis OA2 of the imaging unit 51b is inclined so as to approach the working machine 4 side forward from the optical axis OA4 of the imaging unit 52b.
- the imaging unit 51a is located in front of the imaging unit 52a.
- the imaging unit 51b is located in front of the imaging unit 52b.
- Each of the imaging unit 51a and the imaging unit 52a is attached to the upper-end curved portion UR of the left pillar 41 in a side view.
- Each of the imaging unit 51b and the imaging unit 52b is attached to the upper end curved portion of the right pillar 42 in a side view.
- the height position of the uppermost end of the case 56a that accommodates the imaging unit 51a and the imaging unit 52a is lower than the height position UE2 of the upper end of the cab 5.
- the height position of the uppermost end of the case 56b that accommodates the imaging unit 51b and the imaging unit 52b is lower than the height position UE2 of the upper end of the cab 5.
- the imaging unit 51a and the imaging unit 52a are arranged in the vertical direction, and the imaging unit 51b and the imaging unit 52b are arranged in the vertical direction. . Therefore, according to the present embodiment, it is possible to secure a wider space in the left-right direction between the imaging unit 51a and the imaging unit 51b constituting the first stereo camera, as compared with the above-described one embodiment. Become. For this reason, the accuracy of the first stereo camera can be further improved.
- the present embodiment it is possible to ensure a wider space in the left-right direction between the imaging unit 52a and the imaging unit 52b constituting the second stereo camera, as compared with the above-described one embodiment. It becomes possible. For this reason, the accuracy of the second stereo camera can be further improved.
- FIG. 16 is a functional block diagram showing another configuration of the stereo image data synthesis system.
- the controller 20 mounted on a work vehicle such as the hydraulic excavator 1 may include stereo matching units 761 and 762 and an upper and lower stereo image data combining unit 763.
- the three-dimensional image data is created by the controller 20.
- the imaging units 51a, 51b, 52a, and 52b may be arranged so as to be aligned with the two headlamps 91 in a front view. Specifically, the imaging units 51a, 51b, 52a, and 52b may be arranged in a region RC extending from the two headlamps 91 to the left and right in the direction in which the two headlamps 91 are arranged.
- 1 hydraulic excavator (work vehicle), 2 traveling body, 2a crawler, 3 turning body, 4 work equipment, 4a boom, 4b arm, 4c bucket, 4d, 4e, 4f hydraulic cylinder, 5 cab, 6 engine hood, 7 counterweight , 8 driver's seat, 9 antenna, 20 controller, 21 monitor, 40 front pillar, 40a first guide rail, 41 left pillar, 42 right pillar, 44 middle pillar, 46 rear pillar, 47a front window, 47aa, 47ab protrusion, 47b Rear window, 48 roof part, 48a second guide rail, 49a front frame, 49b rear frame, 49ba through hole, 51a, 51b, 52a, 52b imaging unit, 53 back plate, 53a main body unit, 53aa, 53ba, 53ca female screw unit 53b Upper fixed part 53c lateral fixing part, 53d wire insertion hole, 54 seal member, 54a outer peripheral end, 54b, 55ba, 55ca notch, 55 bracket, 55a back plate mounting part, 55b first support part, 55
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Component Parts Of Construction Machinery (AREA)
- Closed-Circuit Television Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
Description
(一実施の形態)
まず、本開示の一実施の形態における作業車両の構成について説明する。以下、本発明の思想を適用可能な作業車両の一例として油圧ショベルについて図1を用いて説明する。なお本発明は油圧ショベル以外にブルドーザ、ホイールローダなどの作業車両にも適用可能である。
本実施の形態においては、図1および図2に示されるように、ケース56aおよびケース56bは、キャブ5の外部に取り付けられている。このため、図8に示されるように前窓47aが開閉動作をする際にケース56aおよびケース56bが前窓47aに干渉しない。このため、キャブ5の前窓47aを開くことができる。
次に、他の実施の形態における作業車両について図12~図15を用いて説明する。
図16は、ステレオ画像データ合成システムの他の構成を示す機能ブロック図である。
Claims (14)
- キャブと、
第1の撮像部と、第2の撮像部とを有する第1のステレオカメラと、
第3の撮像部と、第4の撮像部とを有する第2のステレオカメラと、
前記第1の撮像部および前記第3の撮像部を内部に収容する第1のケースと、
前記第2の撮像部および前記第4の撮像部を内部に収容する第2のケースと、を備え、
前記第1のケースおよび前記第2のケースは、前記キャブの外部に取り付けられている、作業車両。 - 前記第1のケースおよび前記第2のケースは、前記キャブの前方上端に位置する前フレームに取り付けられている、請求項1に記載の作業車両。
- 前記第1のステレオカメラおよび前記第2のステレオカメラの各々で取得された撮像データを処理する電子機器をさらに備え、
前記電子機器は、前記キャブの内部に位置し、かつ前記キャブの天井に取り付けられている、請求項1に記載の作業車両。 - 前記キャブは、運転席と、前窓とを有し、
前記前窓は、閉じた状態と開いた状態との間で移動し、前記閉じた状態では前記運転席の前方に位置し、前記開いた状態では前記運転席の上方に位置し、
前記電子機器は、前記開いた状態にある前記前窓よりも上方に位置している、請求項3に記載の作業車両。 - 前記電子機器は、前記運転席よりも後方に位置している、請求項4に記載の作業車両。
- 前記第1のステレオカメラおよび前記第2のステレオカメラの各々と前記電子機器とを電気的に接続する電線をさらに備え、
前記キャブは、後窓と、前記後窓の上に位置する後フレームとを有し、
前記電線は、前記後フレームに設けられた貫通孔を通じて前記キャブの外部から内部に延びている、請求項3に記載の作業車両。 - 前記電線は前記電子機器の前面に接続されており、
前記電子機器は、前記前面が低く、前記前面に対向する後面が高くなるように傾斜している、請求項6に記載の作業車両。 - 前記第1のケースは、前記第1の撮像部および前記第3の撮像部の前方に透明なカバーを有し、
前記第1の撮像部の光軸と前記カバーの後面との交点の高さ位置は、前記第3の撮像部の光軸と前記カバーの後面との交点の高さ位置と同じである、請求項1に記載の作業車両。 - 裏板と、
前記裏板および前記第1のケースの間をシールするシール部材とをさらに備え、
前記シール部材および前記第1のケースの少なくとも一方には、前記第1のケースの内部と外部を連通させる連通部が設けられている、請求項1に記載の作業車両。 - 前記裏板に支持されたブラケットをさらに備え、
前記ブラケットは、前記第1の撮像部を支持する第1支持部と、前記第3の撮像部を支持する第2支持部とを有し、
前記第1支持部と前記第2支持部とが一体となるように前記ブラケットは構成されている、請求項9に記載の作業車両。 - 前記キャブは、フロントピラーを有し、
前記第1の撮像部および前記第3の撮像部の各々は、正面視において前記フロントピラーおよび前記フロントピラーの延長領域上に重畳するように配置されている、請求項1に記載の作業車両。 - 前記第1の撮像部は、前記第3の撮像部の下側に配置されている、請求項11に記載の作業車両。
- 前記作業車両が水平な地面上に配置された状態において、前記第1の撮像部の光軸が水平面となす第1の角度は、前記第3の撮像部の光軸が水平面となす第2の角度よりも大きい、請求項12に記載の作業車両。
- 前記第1のケースの上端の高さ位置および前記第2のケースの上端の高さ位置の各々は、前記キャブの上端の高さ位置よりも低い、請求項1に記載の作業車両。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017561986A JP6831799B2 (ja) | 2017-03-31 | 2017-03-31 | 作業車両 |
US15/757,110 US10821910B2 (en) | 2017-03-31 | 2017-03-31 | Work vehicle |
PCT/JP2017/013570 WO2018179322A1 (ja) | 2017-03-31 | 2017-03-31 | 作業車両 |
KR1020187005272A KR20180120665A (ko) | 2017-03-31 | 2017-03-31 | 작업 차량 |
CN201780002907.3A CN108990417B (zh) | 2017-03-31 | 2017-03-31 | 工作车辆 |
DE112017000135.8T DE112017000135T5 (de) | 2017-03-31 | 2017-03-31 | Arbeitsfahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/013570 WO2018179322A1 (ja) | 2017-03-31 | 2017-03-31 | 作業車両 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018179322A1 true WO2018179322A1 (ja) | 2018-10-04 |
Family
ID=63677671
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/013570 WO2018179322A1 (ja) | 2017-03-31 | 2017-03-31 | 作業車両 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10821910B2 (ja) |
JP (1) | JP6831799B2 (ja) |
KR (1) | KR20180120665A (ja) |
CN (1) | CN108990417B (ja) |
DE (1) | DE112017000135T5 (ja) |
WO (1) | WO2018179322A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020199938A (ja) * | 2019-06-11 | 2020-12-17 | 株式会社クボタ | 作業車両の保護機構、及びこれを備える作業車両 |
JP2021139157A (ja) * | 2020-03-05 | 2021-09-16 | コベルコ建機株式会社 | 作業機械 |
WO2023074789A1 (ja) * | 2021-10-28 | 2023-05-04 | 株式会社日立建機ティエラ | 建設機械用キャブ |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105446350B (zh) * | 2014-09-26 | 2018-05-29 | 科沃斯机器人股份有限公司 | 自移动机器人移动界限划定方法 |
US11760293B2 (en) * | 2017-12-18 | 2023-09-19 | Kubota Corporation | Tractor and working vehicle |
JP7195105B2 (ja) * | 2018-10-09 | 2022-12-23 | 株式会社小松製作所 | キャブ及び作業機械 |
TWI690208B (zh) * | 2018-11-01 | 2020-04-01 | 虎山實業股份有限公司 | 攝影裝置 |
CN110468901A (zh) * | 2019-08-28 | 2019-11-19 | 上海三一重机股份有限公司 | 驾驶室结构及挖掘机 |
CN110803114B (zh) * | 2019-09-19 | 2023-04-25 | 深圳市矽赫科技有限公司 | 一种传感器融合感知系统的固定装置 |
US11578475B2 (en) | 2020-04-16 | 2023-02-14 | Deere & Company | Pipe-laying system and method |
US20230116011A1 (en) * | 2021-10-12 | 2023-04-13 | Caterpillar Inc. | Secondary control system and method for mounting with service orientation |
US20240117608A1 (en) * | 2022-10-10 | 2024-04-11 | Great Plains Manufacturing, Inc. | Work machine system for maintaining attachment position |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0584515U (ja) * | 1991-06-28 | 1993-11-16 | 新キャタピラー三菱株式会社 | キャブ前窓開閉装置 |
JPH08328570A (ja) * | 1995-05-26 | 1996-12-13 | Hino Motors Ltd | キャブオーバ車のキャブ内の騒音低減装置 |
JPH11239288A (ja) * | 1998-02-20 | 1999-08-31 | Fuji Heavy Ind Ltd | ビデオカメラの筐体構造 |
JP2010060344A (ja) * | 2008-09-02 | 2010-03-18 | Tokyu Construction Co Ltd | 空間情報表示装置及び支援装置 |
JP2014215039A (ja) * | 2013-04-22 | 2014-11-17 | 日立建機株式会社 | 建設機械 |
WO2016013691A1 (ja) * | 2015-10-15 | 2016-01-28 | 株式会社小松製作所 | 位置計測システム及び位置計測方法 |
WO2016038925A1 (ja) * | 2015-04-22 | 2016-03-17 | 株式会社小松製作所 | 作業車両 |
WO2016043344A1 (ja) * | 2015-09-30 | 2016-03-24 | 株式会社小松製作所 | 油圧ショベル |
JP2016098626A (ja) * | 2014-11-26 | 2016-05-30 | 日立建機株式会社 | 建設機械用キャブ |
JP2016113142A (ja) * | 2014-12-15 | 2016-06-23 | 株式会社リコー | 移動体用カメラ及びカメラを搭載した移動体 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4727842B2 (ja) | 2001-05-02 | 2011-07-20 | 株式会社小松製作所 | 作業車両用キャブの前窓開閉装置 |
US8947531B2 (en) * | 2006-06-19 | 2015-02-03 | Oshkosh Corporation | Vehicle diagnostics based on information communicated between vehicles |
JP2012233353A (ja) | 2011-05-02 | 2012-11-29 | Komatsu Ltd | 油圧ショベルの較正システム及び油圧ショベルの較正方法 |
-
2017
- 2017-03-31 US US15/757,110 patent/US10821910B2/en active Active
- 2017-03-31 WO PCT/JP2017/013570 patent/WO2018179322A1/ja active Application Filing
- 2017-03-31 KR KR1020187005272A patent/KR20180120665A/ko active IP Right Grant
- 2017-03-31 JP JP2017561986A patent/JP6831799B2/ja active Active
- 2017-03-31 CN CN201780002907.3A patent/CN108990417B/zh active Active
- 2017-03-31 DE DE112017000135.8T patent/DE112017000135T5/de active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0584515U (ja) * | 1991-06-28 | 1993-11-16 | 新キャタピラー三菱株式会社 | キャブ前窓開閉装置 |
JPH08328570A (ja) * | 1995-05-26 | 1996-12-13 | Hino Motors Ltd | キャブオーバ車のキャブ内の騒音低減装置 |
JPH11239288A (ja) * | 1998-02-20 | 1999-08-31 | Fuji Heavy Ind Ltd | ビデオカメラの筐体構造 |
JP2010060344A (ja) * | 2008-09-02 | 2010-03-18 | Tokyu Construction Co Ltd | 空間情報表示装置及び支援装置 |
JP2014215039A (ja) * | 2013-04-22 | 2014-11-17 | 日立建機株式会社 | 建設機械 |
JP2016098626A (ja) * | 2014-11-26 | 2016-05-30 | 日立建機株式会社 | 建設機械用キャブ |
JP2016113142A (ja) * | 2014-12-15 | 2016-06-23 | 株式会社リコー | 移動体用カメラ及びカメラを搭載した移動体 |
WO2016038925A1 (ja) * | 2015-04-22 | 2016-03-17 | 株式会社小松製作所 | 作業車両 |
WO2016043344A1 (ja) * | 2015-09-30 | 2016-03-24 | 株式会社小松製作所 | 油圧ショベル |
WO2016013691A1 (ja) * | 2015-10-15 | 2016-01-28 | 株式会社小松製作所 | 位置計測システム及び位置計測方法 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020199938A (ja) * | 2019-06-11 | 2020-12-17 | 株式会社クボタ | 作業車両の保護機構、及びこれを備える作業車両 |
JP7196018B2 (ja) | 2019-06-11 | 2022-12-26 | 株式会社クボタ | 作業車両の保護機構、及びこれを備える作業車両 |
JP2021139157A (ja) * | 2020-03-05 | 2021-09-16 | コベルコ建機株式会社 | 作業機械 |
WO2023074789A1 (ja) * | 2021-10-28 | 2023-05-04 | 株式会社日立建機ティエラ | 建設機械用キャブ |
Also Published As
Publication number | Publication date |
---|---|
US10821910B2 (en) | 2020-11-03 |
JPWO2018179322A1 (ja) | 2020-02-06 |
JP6831799B2 (ja) | 2021-02-17 |
DE112017000135T5 (de) | 2019-03-14 |
CN108990417B (zh) | 2021-09-07 |
KR20180120665A (ko) | 2018-11-06 |
CN108990417A (zh) | 2018-12-11 |
US20190077333A1 (en) | 2019-03-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018179322A1 (ja) | 作業車両 | |
CN106031167B (zh) | 旋转式作业机的周围显示装置 | |
JP6095592B2 (ja) | 油圧ショベルの監視画像表示装置 | |
JP6778214B2 (ja) | 建設機械および撮像システム | |
KR20130138227A (ko) | 작업 기계의 주위 감시 장치 | |
WO2017056268A1 (ja) | 作業車両 | |
JP6595609B2 (ja) | 画像データ生成方法 | |
US10385546B2 (en) | Work vehicle | |
WO2017056266A1 (ja) | 撮像装置 | |
CN104563191A (zh) | 工程机械 | |
WO2017056267A1 (ja) | 撮像装置 | |
JP4465551B2 (ja) | 後方監視カメラ装置 | |
US11788257B2 (en) | Work vehicle | |
JP2020007759A (ja) | 作業車両 | |
US20230050071A1 (en) | Work machine and remote control system for work machine | |
CN107386355B (zh) | 工程机械 | |
JP7381817B2 (ja) | 作業機械用操作機構、及び、それを備えた作業機械 | |
JP2021155972A (ja) | 建設機械 | |
JP2023142831A (ja) | 作業機械および表示システム | |
JP2005180065A (ja) | 建設機械の後方監視装置 | |
KR20140124979A (ko) | 건설기계 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2017561986 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 20187005272 Country of ref document: KR Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17903695 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17903695 Country of ref document: EP Kind code of ref document: A1 |